EP-4737709-A1 - YAW CONTROL METHOD AND APPARATUS, CONTROLLER, AND WIND TURBINE GENERATOR SET

EP4737709A1EP 4737709 A1EP4737709 A1EP 4737709A1EP-4737709-A1

Abstract

A yaw control method and apparatus, a controller, and a wind turbine generator set. The yaw control method comprises: determining a wind direction deviation value on the basis of the wind-facing direction of an impeller of the wind turbine generator set and an actual incoming flow wind direction; and in response to the absolute value of the wind direction deviation value being greater than a predetermined threshold, and a duration in which the absolute value of the wind direction deviation value is greater than the predetermined threshold being greater than a predetermined time period, controlling the wind turbine generator set to yaw. The yaw control method can improve the generation power of the wind turbine generator set.

Inventors

YAO, Shigang
LIU, Zhongpeng

Assignees

Beijing Goldwind Science & Creation Windpower Equipment Co. Ltd.

Dates

Publication Date: 20260506
Application Date: 20231012

Claims (15)

A yaw control method for a wind turbine, comprising: determining a wind direction deviation value based on an impeller alignment direction and an actual incoming wind direction of the wind turbine; and controlling the wind turbine to yaw in response to an absolute value of the wind direction deviation value being greater than a predetermined threshold and a duration in which the absolute value of the wind direction deviation value is greater than the predetermined threshold being greater than a predetermined time period.
The yaw control method for a wind turbine according to claim 1, wherein controlling the wind turbine to yaw in response to an absolute value of the wind direction deviation value being greater than a predetermined threshold and a duration in which the absolute value of the wind direction deviation value is greater than the predetermined threshold being greater than a predetermined time period comprises: in response to the absolute value of the wind direction deviation value being greater than the predetermined threshold and the duration in which the absolute value of the wind direction deviation value is greater than the predetermined threshold being greater than the predetermined time period, controlling the wind turbine to yaw; and controlling each blade of the wind turbine in real time to pitch, so as to adjust a yaw-direction hub torque of the wind turbine.
The yaw control method for a wind turbine according to claim 2, wherein the controlling each blade of the wind turbine in real time to pitch comprises: controlling, based on a yaw gain determined from the wind direction deviation value, each blade of the wind turbine to pitch.
The yaw control method for a wind turbine according to claim 3, wherein the controlling, based on a yaw gain determined from the wind direction deviation value, each blade of the wind turbine to pitch comprises: obtaining the yaw-direction hub torque; determining a corresponding sign of a yaw gain based on a sign of the wind direction deviation value, wherein an absolute value of the yaw gain is less than the yaw-direction hub torque; performing proportional-integral (PI) regulation on a sum of the yaw-direction hub torque and the yaw gain, to obtain a q-axis target pitch angle; performing inverse dq transformation on a d-axis target pitch angle and the q-axis target pitch angle, to obtain a desired pitch angle value for each blade; and controlling, based on the desired pitch angle value for each blade and a unified pitch signal, each blade to pitch.
The yaw control method for a wind turbine according to claim 4, wherein the controlling, based on a yaw gain determined from the wind direction deviation value, each blade of the wind turbine to pitch further comprises: obtaining a pitch bending moment of the hub; and performing PI regulation on the pitch bending moment to obtain the d-axis target pitch angle, wherein the yaw-direction hub torque and the pitch bending moment are obtained by performing dq transformation on a load of a blade root of the wind turbine.
The yaw control method for a wind turbine according to claim 4, wherein the controlling, based on the desired pitch angle value for each blade and a unified pitch signal, each blade to pitch comprises: combining the desired pitch angle value for each blade with the unified pitch signal, to obtain a pitching angle command value for each blade; and controlling, based on the pitching angle command value for each blade, each blade to pitch.
The yaw control method for a wind turbine according to claim 4, wherein in response to the wind direction deviation value being greater than zero, the yaw gain is determined to be negative; and in response to the wind direction deviation value being less than zero, the yaw gain is determined to be positive.
The yaw control method for a wind turbine according to claim 1, wherein the determining a wind direction deviation value based on an impeller alignment direction and an actual incoming wind direction of the wind turbine comprises: obtaining an impeller alignment direction of the wind turbine and measuring the actual incoming wind direction via a wind direction sensor; calculating a difference between the impeller alignment direction and the actual incoming wind direction to obtain a wind direction deviation; and filtering the wind direction deviation to obtain the wind direction deviation value.
The yaw control method for a wind turbine according to any one of claims 1 to 8, wherein the controlling the wind turbine to yaw in response to an absolute value of the wind direction deviation value being greater than a predetermined threshold and a duration in which the absolute value of the wind direction deviation value is greater than the predetermined threshold being greater than a predetermined time period comprises: controlling the wind turbine to yaw in response to the absolute value of the wind direction deviation value being greater than a first predetermined threshold and a first duration in which the absolute value of the wind direction deviation value is greater than the first predetermined threshold being greater than a first predetermined time period; or controlling the wind turbine to yaw in response to the absolute value of the wind direction deviation value being greater than a second predetermined threshold and a second duration in which the absolute value of the wind direction deviation value is greater than the second predetermined threshold being greater than a second predetermined time period, wherein the first predetermined threshold is less than the second predetermined threshold, and the first predetermined time period is greater than the second predetermined time period.
The yaw control method for a wind turbine according to any one of claims 1 to 8, wherein the yaw control method further comprises: controlling the wind turbine to stop yawing in response to the absolute value of the wind direction deviation value being less than a third predetermined threshold and a third duration in which the absolute value of the wind direction deviation value is less than the third predetermined threshold being greater than a third preset time period, wherein the third predetermined threshold is less than the predetermined threshold.
The yaw control method for a wind turbine according to claim 10, wherein the controlling the wind turbine to yaw is not performed in response to the absolute value of the wind direction deviation value being not less than the third predetermined threshold and being not greater than the predetermined threshold.
A computer-readable storage medium, storing instructions or a program, the instructions or the program, when executed by a processor, cause the processor to implement the yaw control method for a wind turbine according to any one of claims 1 to 11.
A yaw control apparatus for a wind turbine, comprising: a first determination unit, configured to determine a wind direction deviation value based on an impeller alignment direction and an actual incoming wind direction of the wind turbine; and a first control unit, configured to control the wind turbine to yaw in response to an absolute value of the wind direction deviation value being greater than a predetermined threshold and a duration in which the absolute value of the wind direction deviation value is greater than the predetermined threshold being greater than a predetermined time period.
A controller for a wind turbine, comprising a processor and a computer-readable storage medium, wherein the computer-readable storage medium stores a program or instructions, and the program or the instructions, when executed by the processor, cause the processor to implement the yaw control method for a wind turbine according to any one of claims 1 to 11.
A wind turbine, comprising the yaw control apparatus for a wind turbine according to claim 13 or the controller for a wind turbine according to claim 14.

Description

FIELD The present disclosure generally relates to the field of wind power, and in particular, to a yaw control method, a yaw control apparatus, a controller, and a wind turbine. BACKGROUND As an impeller diameter and an overall capacity of a wind turbine increase, a turbine cost rises. A yaw system of the wind turbine is a critical component of the turbine. On the one hand, yaw misalignment will reduce the acquired amount of wind energy. On the other hand, errors in yaw may increase the loads on various components of the wind turbine. Furthermore, frequent yawing may shorten mechanical life of the yaw system. Therefore, accurately identifying yaw requirements and/or reducing a yawing frequency are crucial for increasing the mechanical life of the yaw system of the wind turbine and enhancing the safety of the wind turbine. Moreover, a current independent pitch control technology is mainly used to reduce an unbalanced load on an impeller, such as a pitch bending moment and a torsional moment of the hub. Controlling the wind turbine to yaw through the independent pitch control can effectively reduce pressure of the yaw system. However, since the bending moment of the hub in a left-right direction dynamically and periodically changes during impeller rotation, discontinuities may occur in the yawing process of the yaw system. SUMMARY One of the objectives of exemplary embodiments in the present disclosure is to provide a yaw control method capable of controlling a wind turbine to yaw. According to a first aspect of the present disclosure, a yaw control method for a wind turbine includes: determining a wind direction deviation value based on an impeller alignment direction and an actual incoming wind direction of the wind turbine; and controlling the wind turbine to yaw in response to an absolute value of the wind direction deviation value being greater than a predetermined threshold and a duration in which the absolute value of the wind direction deviation value is greater than the predetermined threshold being greater than a predetermined time period. According to a second aspect of the present disclosure, a computer-readable storage medium stores instructions or a program, and the instructions or the program, when executed by a processor, cause the processor to implement the yaw control method for a wind turbine described above. According to a third aspect of the present disclosure, a yaw control apparatus for a wind turbine includes: a first determination unit, configured to determine a wind direction deviation value based on an impeller alignment direction and an actual incoming wind direction of the wind turbine; and a first control unit, configured to control the wind turbine to yaw in response to an absolute value of the wind direction deviation value being greater than a predetermined threshold and a duration in which the absolute value of the wind direction deviation value is greater than the predetermined threshold being greater than a predetermined time period. According to a fourth aspect of the present disclosure, a controller for a wind turbine includes a processor and a computer-readable storage medium. The computer-readable storage medium stores a program or instructions, and the program or the instructions, when executed by the processor, cause the processor to implement the yaw control method for a wind turbine described above. According to a fifth aspect of the present disclosure, a wind turbine includes the yaw control apparatus of the wind turbine described above or the controller of the wind turbine described above. The yaw control method and the yaw control apparatus according to the embodiments of the present disclosure can reduce the yaw frequency. The yaw control method and the yaw control apparatus according to the embodiments of the present disclosure can reduce the yaw error and improve the power generation of the wind turbine. BRIEF DESCRIPTION OF THE DRAWINGS The above and other objectives and features of the embodiments of the present disclosure will be clearer from the following description in conjunction with the drawings that exemplarily illustrate the embodiments. FIG. 1 is a schematic diagram showing various torsional moments according to an embodiment of the present disclosure;FIG. 2 is a flowchart of a yaw control method according to a first embodiment of the present disclosure;FIG. 3 is a flowchart of a yaw control method according to a second embodiment of the present disclosure;FIG. 4 is a flowchart of pitch control during yawing according to an embodiment of the present disclosure;FIG. 5 is a block diagram of a yaw control apparatus according to an embodiment of the present disclosure;FIG. 6 is a graph illustrating a wind direction deviation value according to an embodiment of the present disclosure;FIG. 7 is a graph illustrating power generation according to an embodiment of the present disclosure;FIG. 8 is a graph illustrating a yaw error according to an embodiment of